My first question: How does the micro-controller receive signals from the H-bridge, and how it would send signals to the servos? I understand that it is connected through a mounted port, but I'm wondering what what it actually sends. I am trying to understand my project as much as possible. Thanks!

My second question: if I were to use a Play Station 2 controller to control my robot through my microcontroller, how would I program my micro-controller. What I mean is, how do I synchronize buttons on the controller to preform certain tasks on the robot?

The other option, if you are a PC programmer, is to use a Logitech gaming pad, which can be wireless or not. DirectInput makes it fairly easy to interface to a device like that from any MS language like VB...